1

刘韬
Commit 1c2795a4 由刘韬编写于 2022-09-05 17:14:24 +0800
AutoScanAndLabel/AutoScanAndLabel.csproj
AutoScanAndLabel/IOControl.Designer.cs
AutoScanAndLabel/IOControl.cs
AutoScanAndLabel/app.manifest
DeviceLibrary/DeviceLibrary.csproj
DeviceLibrary/DeviceLibrary/AxisManager.cs
DeviceLibrary/DeviceLibrary/ElectricGripper.cs
--- a/AutoScanAndLabel/AutoScanAndLabel.csproj
查看文件 @1c2795a
+++ b/AutoScanAndLabel/AutoScanAndLabel.csproj
查看文件 @1c2795a
@@ -15,7 +15,7 @@
    <TargetFrameworkProfile />
  </PropertyGroup>
  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
-    <PlatformTarget>AnyCPU</PlatformTarget>
+    <PlatformTarget>x64</PlatformTarget>
    <DebugSymbols>true</DebugSymbols>
    <DebugType>full</DebugType>
    <Optimize>false</Optimize>
@@ -37,6 +37,9 @@
  <PropertyGroup>
    <ApplicationIcon>icon.ico</ApplicationIcon>
  </PropertyGroup>
+  <PropertyGroup>
+    <ApplicationManifest>app.manifest</ApplicationManifest>
+  </PropertyGroup>
  <ItemGroup>
    <Reference Include="Asa.PrintLabel">
      <HintPath>..\dll\Asa.PrintLabel.dll</HintPath>
@@ -51,8 +54,9 @@
      <SpecificVersion>False</SpecificVersion>
      <HintPath>..\..\增广夹爪\Rmaxis\bin\Debug\log4net.dll</HintPath>
    </Reference>
-    <Reference Include="Neotel.Rmaxis">
+    <Reference Include="RmaxisV2, Version=1.0.0.0, Culture=neutral, processorArchitecture=AMD64">
-      <HintPath>..\dll\Neotel.Rmaxis.dll</HintPath>
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\增广夹爪\RmaxisV2\bin\Debug\RmaxisV2.dll</HintPath>
    </Reference>
    <Reference Include="System" />
    <Reference Include="System.Core" />
@@ -164,6 +168,7 @@
    <EmbeddedResource Include="UC\ListEditControl.resx">
      <DependentUpon>ListEditControl.cs</DependentUpon>
    </EmbeddedResource>
+    <None Include="app.manifest" />
    <None Include="Properties\Settings.settings">
      <Generator>SettingsSingleFileGenerator</Generator>
      <LastGenOutput>Settings.Designer.cs</LastGenOutput>

--- a/AutoScanAndLabel/IOControl.Designer.cs
查看文件 @1c2795a
+++ b/AutoScanAndLabel/IOControl.Designer.cs
查看文件 @1c2795a
@@ -58,6 +58,7 @@ namespace AutoScanAndLabel
            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
            this.groupBox3 = new System.Windows.Forms.GroupBox();
            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.btn夹爪回原 = new System.Windows.Forms.Button();
            this.groupBox1.SuspendLayout();
            this.groupBox4.SuspendLayout();
            this.groupBox3.SuspendLayout();
@@ -68,6 +69,7 @@ namespace AutoScanAndLabel
            this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
            | System.Windows.Forms.AnchorStyles.Left)));
            this.groupBox1.Controls.Add(this.btnCloseAll);
+            this.groupBox1.Controls.Add(this.btn夹爪回原);
            this.groupBox1.Controls.Add(this.btn夹爪夹紧);
            this.groupBox1.Controls.Add(this.btn夹爪放松);
            this.groupBox1.Controls.Add(this.btn右侧电滚筒停止);
@@ -103,7 +105,7 @@ namespace AutoScanAndLabel
            // 
            this.btnCloseAll.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.btnCloseAll.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnCloseAll.Location = new System.Drawing.Point(167, 515);
+            this.btnCloseAll.Location = new System.Drawing.Point(166, 562);
            this.btnCloseAll.Name = "btnCloseAll";
            this.btnCloseAll.Size = new System.Drawing.Size(125, 34);
            this.btnCloseAll.TabIndex = 302;
@@ -187,7 +189,7 @@ namespace AutoScanAndLabel
            // 
            this.btn关闭设备光源.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.btn关闭设备光源.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn关闭设备光源.Location = new System.Drawing.Point(167, 461);
+            this.btn关闭设备光源.Location = new System.Drawing.Point(166, 508);
            this.btn关闭设备光源.Name = "btn关闭设备光源";
            this.btn关闭设备光源.Size = new System.Drawing.Size(125, 34);
            this.btn关闭设备光源.TabIndex = 293;
@@ -199,7 +201,7 @@ namespace AutoScanAndLabel
            // 
            this.btn关闭相机光源.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.btn关闭相机光源.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn关闭相机光源.Location = new System.Drawing.Point(31, 461);
+            this.btn关闭相机光源.Location = new System.Drawing.Point(30, 508);
            this.btn关闭相机光源.Name = "btn关闭相机光源";
            this.btn关闭相机光源.Size = new System.Drawing.Size(125, 34);
            this.btn关闭相机光源.TabIndex = 290;
@@ -211,7 +213,7 @@ namespace AutoScanAndLabel
            // 
            this.btn打开设备光源.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.btn打开设备光源.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn打开设备光源.Location = new System.Drawing.Point(167, 421);
+            this.btn打开设备光源.Location = new System.Drawing.Point(166, 468);
            this.btn打开设备光源.Name = "btn打开设备光源";
            this.btn打开设备光源.Size = new System.Drawing.Size(125, 34);
            this.btn打开设备光源.TabIndex = 293;
@@ -223,7 +225,7 @@ namespace AutoScanAndLabel
            // 
            this.btn打开相机光源.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.btn打开相机光源.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn打开相机光源.Location = new System.Drawing.Point(31, 421);
+            this.btn打开相机光源.Location = new System.Drawing.Point(30, 468);
            this.btn打开相机光源.Name = "btn打开相机光源";
            this.btn打开相机光源.Size = new System.Drawing.Size(125, 34);
            this.btn打开相机光源.TabIndex = 290;
@@ -444,6 +446,18 @@ namespace AutoScanAndLabel
            this.tableLayoutPanel1.Size = new System.Drawing.Size(244, 718);
            this.tableLayoutPanel1.TabIndex = 102;
            // 
+            // btn夹爪回原
+            // 
+            this.btn夹爪回原.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btn夹爪回原.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btn夹爪回原.Location = new System.Drawing.Point(30, 412);
+            this.btn夹爪回原.Name = "btn夹爪回原";
+            this.btn夹爪回原.Size = new System.Drawing.Size(125, 34);
+            this.btn夹爪回原.TabIndex = 297;
+            this.btn夹爪回原.Text = "夹爪回原";
+            this.btn夹爪回原.UseVisualStyleBackColor = false;
+            this.btn夹爪回原.Click += new System.EventHandler(this.btn夹爪回原_Click);
+            // 
            // IOControl
            // 
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -494,5 +508,6 @@ namespace AutoScanAndLabel
        private System.Windows.Forms.Button btn关闭相机光源;
        private System.Windows.Forms.Button btn右侧电滚筒停止;
        private System.Windows.Forms.Button btn左侧电滚筒停止;
+        private System.Windows.Forms.Button btn夹爪回原;
    }
 }
--- a/AutoScanAndLabel/IOControl.cs
查看文件 @1c2795a
+++ b/AutoScanAndLabel/IOControl.cs
查看文件 @1c2795a
@@ -292,5 +292,10 @@ namespace AutoScanAndLabel
        {
            IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.LOW);
        }
+        private void btn夹爪回原_Click(object sender, EventArgs e)
+        {
+            RobotManage.electricGripper.HomeReset();
+        }
    }
 }
--- a/AutoScanAndLabel/app.manifest 0 → 100644
查看文件 @1c2795a
+++ b/AutoScanAndLabel/app.manifest 0 → 100644
查看文件 @1c2795a
+<?xml version="1.0" encoding="utf-8"?>
+<assembly manifestVersion="1.0" xmlns="urn:schemas-microsoft-com:asm.v1">
+  <assemblyIdentity version="1.0.0.0" name="MyApplication.app"/>
+  <trustInfo xmlns="urn:schemas-microsoft-com:asm.v2">
+    <security>
+      <requestedPrivileges xmlns="urn:schemas-microsoft-com:asm.v3">
+        <!-- UAC 清单选项
+             如果想要更改 Windows 用户帐户控制级别，请使用
+             以下节点之一替换 requestedExecutionLevel 节点。n
+        <requestedExecutionLevel  level="asInvoker" uiAccess="false" />
+        <requestedExecutionLevel  level="requireAdministrator" uiAccess="false" />
+        <requestedExecutionLevel  level="highestAvailable" uiAccess="false" />
+            指定 requestedExecutionLevel 元素将禁用文件和注册表虚拟化。
+            如果你的应用程序需要此虚拟化来实现向后兼容性，则删除此
+            元素。
+        -->
+        <requestedExecutionLevel level="requireAdministrator" uiAccess="false" />
+      </requestedPrivileges>
+    </security>
+  </trustInfo>
+  <compatibility xmlns="urn:schemas-microsoft-com:compatibility.v1">
+    <application>
+      <!-- 设计此应用程序与其一起工作且已针对此应用程序进行测试的
+           Windows 版本的列表。取消评论适当的元素，
+           Windows 将自动选择最兼容的环境。 -->
+      <!-- Windows Vista -->
+      <!--<supportedOS Id="{e2011457-1546-43c5-a5fe-008deee3d3f0}" />-->
+      <!-- Windows 7 -->
+      <!--<supportedOS Id="{35138b9a-5d96-4fbd-8e2d-a2440225f93a}" />-->
+      <!-- Windows 8 -->
+      <!--<supportedOS Id="{4a2f28e3-53b9-4441-ba9c-d69d4a4a6e38}" />-->
+      <!-- Windows 8.1 -->
+      <!--<supportedOS Id="{1f676c76-80e1-4239-95bb-83d0f6d0da78}" />-->
+      <!-- Windows 10 -->
+      <!--<supportedOS Id="{8e0f7a12-bfb3-4fe8-b9a5-48fd50a15a9a}" />-->
+    </application>
+  </compatibility>
+  <!-- 指示该应用程序可感知 DPI 且 Windows 在 DPI 较高时将不会对其进行
+       自动缩放。Windows Presentation Foundation (WPF)应用程序自动感知 DPI，无需
+       选择加入。选择加入此设置的 Windows 窗体应用程序(面向 .NET Framework 4.6)还应
+       在其 app.config 中将 "EnableWindowsFormsHighDpiAutoResizing" 设置设置为 "true"。
+       将应用程序设为感知长路径。请参阅 https://docs.microsoft.com/windows/win32/fileio/maximum-file-path-limitation -->
+  <!--
+  <application xmlns="urn:schemas-microsoft-com:asm.v3">
+    <windowsSettings>
+      <dpiAware xmlns="http://schemas.microsoft.com/SMI/2005/WindowsSettings">true</dpiAware>
+      <longPathAware xmlns="http://schemas.microsoft.com/SMI/2016/WindowsSettings">true</longPathAware>
+    </windowsSettings>
+  </application>
+  -->
+  <!-- 启用 Windows 公共控件和对话框的主题(Windows XP 和更高版本) -->
+  <!--
+  <dependency>
+    <dependentAssembly>
+      <assemblyIdentity
+          type="win32"
+          name="Microsoft.Windows.Common-Controls"
+          version="6.0.0.0"
+          processorArchitecture="*"
+          publicKeyToken="6595b64144ccf1df"
+          language="*"
+        />
+    </dependentAssembly>
+  </dependency>
+  -->
+</assembly>
--- a/DeviceLibrary/DeviceLibrary.csproj
查看文件 @1c2795a
+++ b/DeviceLibrary/DeviceLibrary.csproj
查看文件 @1c2795a
@@ -50,8 +50,9 @@
    <Reference Include="log4net, Version=2.0.12.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
      <HintPath>..\packages\log4net.2.0.12\lib\net45\log4net.dll</HintPath>
    </Reference>
-    <Reference Include="Neotel.Rmaxis">
+    <Reference Include="RmaxisV2, Version=1.0.0.0, Culture=neutral, processorArchitecture=AMD64">
-      <HintPath>..\dll\Neotel.Rmaxis.dll</HintPath>
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\增广夹爪\RmaxisV2\bin\Debug\RmaxisV2.dll</HintPath>
    </Reference>
    <Reference Include="SdkApi.Core">
      <HintPath>..\dll\SdkApi.Core.dll</HintPath>

--- a/DeviceLibrary/DeviceLibrary/AxisManager.cs
查看文件 @1c2795a
+++ b/DeviceLibrary/DeviceLibrary/AxisManager.cs
查看文件 @1c2795a
@@ -56,7 +56,7 @@ namespace DeviceLibrary
        public static void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec)
        {
-            instance.SpeedMove(portName, slvAddr, speed,acc,dec);
+            instance.SpeedMove(portName, slvAddr, speed,0,0);
        }
        public static void SuddenStop(string portName, short slvAddr)
        {

--- a/DeviceLibrary/DeviceLibrary/ElectricGripper.cs
查看文件 @1c2795a
+++ b/DeviceLibrary/DeviceLibrary/ElectricGripper.cs
查看文件 @1c2795a
@@ -36,7 +36,8 @@ namespace DeviceLibrary
                moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitAction),crc.GetString("Res0192","夹爪夹紧")));
            if (!IsBusy)
            {
-                axis.Push(ConfigHelper.Config.Get("ElectricGripperPushForce",40), 4.5f, 15);
+                axis.ResetError();
+                axis.Push(ConfigHelper.Config.Get("ElectricGripperPushForce",40), 6f, 20);
                clampTimes++;
                if (moveInfo != null)
                    moveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
@@ -54,9 +55,13 @@ namespace DeviceLibrary
        public bool Release(MoveInfo moveInfo = null)
        {
            GripperType = GripperTypeE.Release;
+            HomeReset();
+            return true;
            if (!IsBusy)
            {
-                axis.MoveAbsolute(0, 30, 500, 500, 0.1f);
+                axis.StopAxis();
+                axis.ResetError();
+                axis.MoveAbsolute(0, 50, 100, 100, 0.5f);
                clampTimes = 0;
                if (moveInfo != null)
                    moveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
@@ -72,8 +77,9 @@ namespace DeviceLibrary
        public void HomeReset(MoveInfo moveInfo = null)
        {
            GripperType = GripperTypeE.Reset;
-            ClosePort();
+            //ClosePort();
-            OpenPort(ConfigHelper.Config.Get("ElectricGripperPort"));
+            //OpenPort(ConfigHelper.Config.Get("ElectricGripperPort"));
+            axis.StopAxis();
            axis.ResetError();
            axis.GoHome();
            clampTimes = 0;
@@ -87,7 +93,7 @@ namespace DeviceLibrary
            {
                LogUtil.info($"ElectricGripper IsReached:{axis.IsReached},IsMoving:{axis.IsMoving}");
                //return false;
-                return !axis.IsReached;
+                return axis.IsMoving;
            }
        }
        public bool IsClamp